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turtlebot / turtlebot_apps

A group of simple demos and exmaples to run on your TurtleBot to help you get started with ROS and TurtleBot.
http://www.ros.org/wiki/turtlebot_apps
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This removes the pcl dependency and changes the follower to use the depth image instead of the point cloud #148

Closed tfoote closed 8 years ago

tfoote commented 8 years ago

This has the added benefit of not requiring PCL as a dependency.

Available for review but I'll test this in the office tomorrow before merging.

tfoote commented 8 years ago

I validated this today and fixed up a few indexing errors. It decreases the cpu load from 4 saturated cores to 1 saturated core.

130s commented 8 years ago

@tfoote Out of curiosity, what's the background of this PR? Is there any other reason than fewer dependency the better as a general rule of thumb?

tfoote commented 8 years ago

Fewer dependencies make releasing easier and less footprint. Lower computational overhead allows cheaper processors and longer battery life.

stonier commented 8 years ago

This particular application is easily suited to iterating over the 2d image. The 3d point clouds just seem like massive overkill in retrospect. So +1 from me especially as it is probably the most popular reference application for turtles (no preparation needed like navigation requires).